DE102011109491A1 - Driving assistance device to support the driving of narrow roads - Google Patents

Abstract

The invention relates to a driving support device (10) for a motor vehicle for assisting the driving of narrow driving paths, comprising a data acquisition unit (12) for recording the data of a distance to be traveled from wheel and steering angle sensors (14, 16) and a memory unit (18) for recording the Path data and with a drive unit (20) for controlling the motor vehicle on the basis of the recorded path data, for traversing the recorded distance in the same or reverse direction, this being coupled to a satellite navigation receiver (28) for determining boundary value position data at the time of starting the path and / or the end and the memory unit (18) stores the Randwertpositionsdaten to the Wegstreckendaten, also an approach checking unit (30) is provided which checks whether the motor vehicle approaches the stored Wegstreckenanfang or end and in this case a Positionsan proximity signal generated.

Description

The invention relates to a driving support device for a motor vehicle for supporting the driving of narrow driving ways, comprising a data acquisition unit for detecting the data of a distance to be traveled from Rad- and steering angle sensors and a memory unit for recording the Wegstreckendaten and with a drive unit for driving the motor vehicle on the basis of the recorded Route data, for tracing the recorded distance in the same or reverse direction.

A generic driving support device is from the EP 1 858 744 B1 known, recorded at the abfahrten by the vehicle and determined by wheel and steering angle sensors short Wegtrajektorien of about 5 m and for automated or semi-automated driving in the same or reverse direction are available, so that driving on narrow road areas, such as driveways in Garages or exits from such under cramped conditions is possible. The disadvantage here is that the recorded trajectory is actually valid from a certain starting point, but which is not definable. For example, the trajectory trajectory is recorded when the vehicle is parked in front of a parking space (a garage). However, if at a later time the vehicle is at a different location and the automatic parking is started, it may cause the retraction process is not feasible, especially when the start state is laterally offset or further away from the start state during the recording process.

Another driving support device is from the DE 196 35 892 A1 known. This makes it easier to park and park in confined spaces. This is based on permanently stored optimized driving trajectories (so-called model driving data), which were determined with the aid of an experienced driver. In this way, the vehicle can be moved into the parking space automatically and without the intervention of the possibly inexperienced driver. This device requires a selection of stored typical parking situations and is not able to take account of specific factual circumstances (eg curbs or posts) which, in a specific case, make the parking procedure more difficult.

The object of the invention is to make a driving support device much more flexible in order to allow an entry and Ausparkvorgang under much different circumstances than was previously possible.

The invention results from the features of the independent claims. Advantageous developments and refinements are the subject of the dependent claims. Other features, applications and advantages of the invention will become apparent from the following description, as well as the explanation of embodiments of the invention, which are illustrated in the figures.

The object is achieved according to claim 1, characterized in that in a driving support device for a motor vehicle to support the driving narrow roadways, with a data acquisition unit for detecting the data of a distance to be traveled from Rad- and steering angle sensors and a memory unit for recording the odometer data and with a drive unit for Driving the motor vehicle on the basis of the recorded Wegstreckendaten, for driving the recorded distance in the same or reverse direction, the driving support device is coupled to a satellite navigation receiver for determining Randwertpositionsdaten at the time of Wegstreckenanfangs and / or end and the memory unit stores the Randwertpositionsdaten to the Wegstreckendaten , And a proximity check unit is provided, which checks whether the motor vehicle approaches the stored path beginning or end and in this Fal l generates a position approximation signal. Upon detection of the trajectory data, advantageously also existing inertial sensors, in particular signals of a yaw rate sensor, are used to increase the accuracy.

Since, according to the invention, absolute position data are stored for each stored distance (trajectory), the system can first determine whether it is in the vicinity of a stored trajectory. The position-proximity signal generated thereby can preferably be used to propose to the driver the automated trajectory traverse. On the other hand, it can be determined from a comparison of the current position with the stored boundary value position data whether the vehicle is sufficiently close to a recorded trajectory, so that it can be traversed automatically or initially - preferably automatically - must be moved to the trajectory, in order to then depart , It may also preferably be checked, when the position approximation signal occurs, whether further trajectories exist in spatial proximity to the relevant trajectory. So it may be appropriate that the driver various parking available, for. B. a private garage space and alternatively a place in front of the building, or a parking lot for multiple users, each user has access to any free parking. In such a case, it is expedient if the driver is offered the various alternative trajectories to choose from.

According to an advantageous embodiment of the invention, the position approaching signal of the driver communication unit can be fed, which offers the driver the possibility to activate an automatic shutdown of the corresponding route and optionally, so if the driver decides to activate the drive unit for autonomous driving the route through the motor vehicle. Thus, the driver does not have to worry about whether certain trajectories are recorded or he does not have to select the desired one interactively from a plurality of stored trajectories but this is taken from him by the system. The driving support device according to the invention thus considerably simplifies the operation of the system for the driver because he no longer has to worry about whether a trajectory is stored or not. Preferably, the approach to a recorded trajectory can be signaled to him that initially a manual control is possible. With sufficient approximation then an automated retraction into the trajectory and the subsequent departure of the same can be proposed and carried out with consent.

According to an advantageous development of the invention, the driving support device comprises a digital map unit with road map information which communicates with the satellite navigation receiver and based on the current position data of the motor vehicle road class data (eg highway, freeway, one-way street, dead end) and / or environment data (eg buildings ) outputs from the road map information. These may be used by the driving assistance device to refrain from trajectory recording or proximity signaling, e.g. B. if it is clear that the vehicle is on a highway or expressway and therefore trajectory driving is not considered. Typically, the road map information is either stored in the digital map unit itself or is loaded by means of a bus system (eg, CAN bus) from other in-vehicle sources, preferably a navigation system. Alternatively or additionally, this information may be loaded via outside environment communication channels.

According to an advantageous development of this embodiment, the digital map unit comprises map data with position attribute data (parking lot, dead end, narrow street) for checking whether the motor vehicle is in the vicinity of road areas with restricted navigation possibilities and in such a case proposes the recording of a trajectory to the driver or automated by leads. Thus, the driver is further relieved and only needs to confirm briefly whether a recording is to be performed or in an automatic recording activation is requested by the driving support device after determining a vehicle content at the driver, whether the currently recorded trajectory should be permanently stored.

According to an advantageous embodiment of the invention, this environment detection sensors, by means of the environmental data when driving the route are detected and the storage device stores the environmental data to the corresponding Wegstreckendaten. Preferably, the environment detection sensors are optical sensors. Alternatively or additionally, the environment detection sensors may also include other types of sensors, in particular ultrasound, lidar or radar devices. Furthermore, an image processing unit is provided, which uses the environment data to create object data of objects arranged in the vicinity of the travel path, wherein the storage device stores the object data relating to the corresponding travel route data. Thus, the environment of the trajectory is detected and provides more accurate information about the route, so that in particular more degrees of freedom are opened at repeated trajectory traversing. Thus, it can be determined whether a lateral offset to the stored trajectory can be driven easily or due to special obstacles (eg curbs, posts) an exact trajectory of the trajectory is required. Preferably, for this purpose, curb sensors can be provided which take into account the course of curbs arranged near the trajectory.

According to an advantageous further development of this embodiment, the driving support device comprises an environmental data matching unit which compares the object data determined via the environmental detection sensors with the environmental data determined via the digital map unit. In this way, the virtual trajectory environment image is further refined so that, for example, temporarily nearby objects such as persons or parked bicycles / strollers can be considered as such.

According to an advantageous development of the invention, the memory device comprises a ring memory area, for example as RAM, which during the movement of the motor vehicle the path data and - as far as they are detected - additionally stores the environmental data and / or the object data and for the deletes the oldest data. Thus, a trajectory of the last traveled distance is always available at any time, which can either be stored permanently at the request of the driver for future use or can be used immediately if it is to be reduced.

According to an advantageous development of the invention, the driving support device communicates with a driver identification unit, and in the memory device, the route distance data as well as the additional data stored therefor are stored separately for each driver. If an approach to stored trajectories is subsequently checked, either the trajectory associated with it can either be proposed to the driver or it can be signaled to each trajectory whether these originate from it or from other persons. Thus, it can be prevented that untrained drivers attributable trajectories are proposed to experienced drivers.

According to an advantageous embodiment of the invention, the driving support device comprises a trajectory-introducing unit, which determines a suitable way in which the motor vehicle is movable in a selected trajectory. On the basis of the position and orientation of the motor vehicle and of the trajectory data, such a trajectory introduction unit determines the shortest possible path on which the vehicle is guided onto the trajectory and can subsequently be moved further along the trajectory.

According to an advantageous development of the invention, the driving support device comprises a time unit in order to store the recording time for each trajectory recording. Thus, when selecting multiple available trajectories, a suggestion or weighting may be made according to the current time. For example, if a trajectory was recorded in the evening, such a trajectory, recorded in the evening, might be suggested prior to a trajectory recorded in the morning. For in the evening a driver would rather want to park in the garage and during the day in front of the house.

According to an advantageous embodiment of the invention, the driving support device can be acted upon by a trailer signal, which indicates whether the vehicle pulls a trailer during trajectory recording, and this trailer signal can be stored for each trajectory record. Thus, the driver can be proposed primarily a trajectory, which detects the same conditions, that is, when just a trailer is pulled, recorded with a trailer trajectory and vice versa.

According to an advantageous development of the invention, the driver communication unit ( 32 ) when storing the trajectory, the input of additional information, preferably a trajectory name, trajectory explanations. Such input may be either manual or by verbal naming and preferably conversion to text by means of a speech recognition system. Thus, the driver can optically and / or acoustically be offered the available trajectories for selection.

According to an advantageous development of the invention, additional alternatives are selectable in the selection of a trajectory to be traveled, in particular accessibility of the doors or of the boot. It may be useful to deviate automatically for certain trajectories from the given path, for example, if the passenger door or the trunk should be accessible. In this case, the end position of the vehicle would differ with appropriate selection of the stored end value. If the passenger door is to be accessible, the vehicle could be parked accordingly more to the left or on access to the trunk further forward.

Further advantages, features and details emerge from the following description in which an exemplary embodiment is described with reference to the drawing. Described and / or illustrated features form the subject of the invention, alone or in any meaningful combination. The same, similar and / or functionally identical parts are provided with the same reference numerals.

The figure shows a schematic representation of a preferred driving support device 10 , This includes a central data processing unit 11 to control all subsequent processes. An additional component is a data acquisition unit 12 equipped with multiple sensors, especially wheel sensors 14 , a yaw rate sensor 15 and a steering angle sensor 16 is connected to determine on the basis of the sensor signals Wegstreckendaten to a distance trajectory (trajectory). This path data is then stored in a trajectory storage unit 18 saved. The driving assistance device 10 further comprises a drive unit 20 Based on the in the trajectory storage unit 18 stored trajectories causes a control of the motor vehicle, not shown, in particular by controlling the vehicle steering device 22 , the vehicle circuit 24 and the accelerator 26 , Thus, the motor vehicle is able automates the path of any of those in the trajectory storage unit 18 traversed stored trajectory, under the control of the data processing unit 11 either in the recorded or reversed direction.

The illustrated preferred driving support device 10 is with a satellite navigation receiver 28 which is preferably designed as a GPS or Galileo receiver o. Ä., To provide absolute position data (relative to a Erdkoordinatensystem such as WSG 84) of the vehicle residence. The data processing unit 11 stores the absolute position data at least to the beginning and end value of each trajectory, so that thus the absolute position data can be determined for each point of the trajectory. It is expediently only to an edge value of the absolute position value of the satellite navigation receiver 28 used and the second boundary value calculated from the Wegstreckendaten from it, since the accuracy of the satellite navigation determination is considerably lower than that by means of the sensors 14 . 16 determined position data and therefore the calculation of the second boundary value results in a more conclusive result than if both boundary values are determined from satellite navigation data.

Alternatively, the absolute position data can also be stored for each distance point, which is preferred, however, if the satellite navigation receiver 28 provide sufficiently accurate position data, for example by differential GPS.

The illustrated preferred driving support device 10 further comprises a proximity checking unit 30 , the permanent position signal of the satellite navigation receiver while driving 28 with those in the trajectory storage unit 18 stored boundary value position data compares and checks whether the distance to one of the boundary value position data is less than a predetermined threshold, for example 20 m or 100 m. If so, the proximity check unit generates 30 a position approximation signal generated by the data processing unit 11 is processed.

The illustrated preferred driving support device 10 further comprises a driver communication unit 32 comprising one or more optical and / or acoustic and / or haptic signaling units 34 includes to signal the driver certain events and at least one haptic and / or acoustic input unit 36 for the driver, by means of which the driver with the driving assistance device 10 communicated. Thus, the above-mentioned position approximation signal becomes via signaling units 34 issued to the driver, for example by text output on a display and simultaneous output of an announcement text - similar to the announcement texts of a navigation device - via speakers. The driver can then decide whether the trajectory should be traversed and a corresponding input unit 36 activate, for example by pressing a button or speaking a word by means of the data processing unit 11 can be analyzed.

The illustrated preferred driving support device 10 further includes a digital card unit 38 which stores information about road topology as well as road class data. Alternatively, this unit receives the map data from other sources, preferably via a CAN interface or other communication channel. As road class data, information is understood as to whether a road is a highway, a freeway, a parking lot or a dead end. Thus, the map data may come from other in-vehicle data sources, such as a navigation system, or external road information or road class data may be loaded via outside environmental communication channels. Preferably, the communication with the digital card unit takes place 38 via a CAN bus system (Controller Area Network) 39 of the vehicle.

Furthermore, the digital card unit contains 38 preferably additional environmental data, eg. B. of buildings or similar obstacles. On the basis of such road class data, the data processing unit 11 check whether a route record is proposed to the driver or automatically initiated.

The illustrated preferred driving support device 10 is also with environment detection sensors 40 coupled, as these are present in modern motor vehicles, in particular image recording and / or ultrasonic sensors. If image capture devices are used, the data processing unit is 11 with an image processing unit 42 coupled, which can detect objects in the environment and creates corresponding item data, preferably also in the trajectory storage unit 18 are stored and can be used in the determination of suitable, slightly different from the stored trajectory routes. The environment detection sensors 40 may also include weather sensors (outside temperature, outside humidity sensors). In this way, the driver can be offered a suitable trajectory depending on the weather (for example, in the case of rain or snow, a trajectory leading to a garage space would be proposed in front of a street parking lot).

The environment detection sensors 40 may further comprise a trailer sensor by means of which it is determined whether a trailer hangs on an existing trailer hitch. If a trajectory is recorded then this information would be stored as well.

The illustrated preferred driving support device 10 further comprises an environment data matching unit 44 based on that of the image processing unit 42 based on that from the environment detection sensors 40 determined item data with the in the digital card unit 38 matching object data to produce a more accurate environmental image which is then stored to the odometer data.

The in the illustrated driving support device 10 provided trajectory storage unit 18 includes a ring storage area 46 always recording the current position data automatically or on the express instructions of the driver, always overwriting the oldest data. So there is always a certain distance of the last covered path available for permanent storage.

The illustrated preferred driving support device 10 communicates further with a driver identification unit 48 that generates a separate identification signal for each driver, for example by means of an RFID tag provided in the ignition key. On the basis of this information, the data processing or the information output to the driver can be person-dependent.

The illustrated preferred driving support device 10 further comprises a trajectory introduction unit 50 using the current, by means of the satellite navigation receiver 28 determined absolute position data determines an optimal way to get from a not lying on a stored trajectory position taking into account stored item data in a certain trajectory without touching obstacles.

A preferred embodiment of the storage of routes / trajectories will now be described. So can one with the driving support device 10 equipped vehicle for storing a first distance or trajectory from the driver via actuation of the input unit 32 to be activated. The data processing unit then reads 11 from the satellite navigation receiver 28 the current absolute position data and stores it in the trajectory memory unit 18 , Furthermore, the time and date of the recording is preferably stored. The other, caused by the driver vehicle movements are at least on the wheel sensors 14 and the steering angle sensor 16 as well as the inertial measuring technology. Furthermore, further sensors present in the vehicle can be read out, which detect the accelerator pedal position or the shift position. From this, route distance data are calculated cyclically in the trajectory memory unit 18 are stored to the trajectory in question.

Furthermore, via the environmental detection sensors 40 Information about the environment detected in the image processing unit 42 evaluated and from it as well as from the data of the digital map unit 38 Environmental data about objects and obstacles in the vicinity of the trajectory determined and also in the trajectory storage unit 18 saved. When the vehicle comes to a standstill, data logging is terminated and the trajectory permanently in the trajectory memory unit 18 stored. It can be done previously via the driver communication unit 32 the driver will be asked whether the trajectory should actually be stored permanently. Furthermore, preferably the stored distance / trajectory with a driver identification mark from the driver identification unit 48 provided to the driver concerned. It is also possible for the driver via the driver communication unit 32 to offer the possibility to designate the stored trajectory manually via keys or by voice input (eg "home garage"). A typical stored distance / trajectory has a length of about 5 to 100 m.

In this or a similar manner, a plurality of trajectories may be recorded over time and in the trajectory storage unit 18 get saved.

For use of the stored trajectories are made while driving by the approach check unit 30 the stored trajectories. then checked whether the vehicle is approaching a boundary value (start or end value) of the stored routes. If this is the case and a (possibly adjustable by the user) distance value is exceeded, a position approaching signal is generated. Thereafter, the first of the data processing unit 11 checks whether there are any other stored trajectories that are spatially close to the respective trajectory. For example, several alternative routes to a parking lot (eg with or without a trailer) or several alternative parking spaces (eg in a garage or in a courtyard or on the street). Now takes place via the driver communication unit 32 a signaling of the one trajectory or, if several come into question, all eligible trajectories to the driver, for example by voice output and Display. This signaling can also be made dependent on the driving speed, z. B. only when the vehicle is stationary or at a low speed (eg., Less than 5 km / h) drives, because it is unlikely in a faster moving vehicle that the driver wants to enter a parking space, etc.

Unless the driver has the driver communication unit 32 signals the trajectory in question or selects a trajectory in several possible, the data processing unit 11 the drive unit 20 activate, based on the from the trajectory storage unit 18 data retrieved causes the vehicle to start the trajectory. If the vehicle is not yet on the trajectory at this time, the trajectory initiation unit is activated 50 previously determined and driven a suitable way to automatically move the vehicle on the Trajektorienweg. The driver always has the opportunity to engage in the movement process.

When selecting a trajectory, the driver can use the driver communication unit 32 be given the opportunity to enter end point deviations, for example, to allow accessibility of the trunk or passenger doors. If the driver desires the accessibility of the trunk, the environment detection sensors would respond in response to signals 40 the parking position must be moved forward so that there is enough space behind the vehicle. Accordingly, with accessibility of the passenger door, the end position would depend on the signals from the environment detection sensors 40 moved more to the left.

It has also been stated above that a trailer sensor signal can be stored. When trajectory selection can then be checked whether the vehicle is currently pulling a trailer and then primarily trajectories are proposed with the same conditions. It can alternatively also by the data processing unit 11 if a trajectory recorded without a trailer is selected, a correction of the heading to be traveled is made to take into account the turning of a trailer.

By means of the device according to the invention it is not only easier to drive on narrow garages or parking lots but also to drive on longer areas such as dead ends or narrow streets in old villages. Thus, for example, a multiple driving forwards and backwards requiring shunting easier in narrow backyards. Of course, it is also possible to achieve the activation by remote control so that the driver can leave the vehicle before trajectory departure.

LIST OF REFERENCE NUMBERS

10

Driving support device

11

Data processing unit

12

Data acquisition unit

14

wheel sensors

15

Yaw rate sensor

16

Steering angle sensor

18

Trajectories storage unit

20

control unit

22

Vehicle steering device

24

vehicle circuit

26

accelerator

28

Satellite navigation receiver

30

Annäherungsprüfeinheit

32

Driver communication unit

34

signaling terminals

36

input unit

38

Digital card unit

39

CAN bus system

40

Environment detection sensors

42

Image processing unit

44

Environmental data matcher

46

Ring storage area

48

Driver identification unit

50

Trajectory Einleiteinheit

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• EP 1858744 B1 [0002]
• DE 19635892 A1 [0003]

Claims (15)

Driving assistance device ( 10 ) for a motor vehicle to support narrow-gauge traffic, having a data acquisition unit ( 12 ) for recording the data of a trajectory to be traveled from wheel and steering angle sensors ( 14 . 16 ) and a trajectory storage unit ( 18 ) for recording path data and with a control unit ( 20 ) for driving the motor vehicle on the basis of the recorded path data, for driving the recorded distance in the same or reverse direction, characterized in that this with a satellite navigation receiver ( 28 ) is coupled for the determination of boundary value position data at the time of the path start and / or end and the memory unit ( 18 ) stores the margin value position data about the route distance data, and a proximity check unit ( 30 ) is provided, which checks whether the motor vehicle approaches the stored path beginning or end and in this case generates a position approaching signal. Driving assistance device according to claim 1, characterized in that the position approaching signal of a driver communication unit ( 32 ) can be fed, which offers the driver the option to activate an automatic shutdown of the corresponding route and, if appropriate, the drive unit ( 40 ) is activated for the autonomous driving off of the route by the motor vehicle. Driving assistance device according to one of the preceding claims, characterized in that it comprises a digital map unit ( 38 road map information obtained from the satellite navigation receiver ( 28 ) current class data (eg, highway, expressway, one-way street, dead end) and / or surrounding data (eg, buildings) are generated from the road map information. Driving assistance device according to claim 3, characterized in that it is automatically deactivated when certain road classes (eg, highways) occur. Driving assistance device according to claim 3, characterized in that the digital map unit ( 38 Map data with position attribute data (parking lot, dead end, narrow street) includes for checking whether the motor vehicle is located in the vicinity of road areas with limited navigation capability and in such a case proposes recording the trajectory to the driver or automatically. Driving assistance device according to one of the preceding claims, characterized in that these environmental detection sensors ( 40 ) is detected by means of the environment data when traveling the route and the memory device ( 18 ) stores the environmental data about the corresponding odometer data. Driving assistance device according to claim 6, characterized in that the environment detection sensors ( 40 ) comprise optical sensors and an image processing unit ( 42 ) is provided, which uses the environment data to create object data of objects arranged in the vicinity of the route, wherein the memory device ( 18 ) stores the item data on the corresponding route data. Driving assistance device according to claim 7, characterized in that it comprises an environment data matching unit ( 44 ) detected by the environmental detection sensors ( 40 ) determined item data with the via the digital card unit ( 38 ) compares determined environmental data. Driving assistance device according to one of the preceding claims, characterized in that the storage device ( 18 ) an additional ring memory area ( 46 ), which stores during the movement of the motor vehicle, the Wegstreckendaten and possibly additionally the environmental data and / or the item data and for deleting the oldest data. Driving assistance device according to one of the preceding claims, characterized in that it is provided with a driver identification unit ( 48 ) and in the memory device ( 18 ) for each driver, the route data and the additional data stored for this purpose are stored separately and preferably retrieves certain road conditions stored for the driver in the occurrence of certain states. Driving assistance device according to one of the preceding claims, characterized in that it comprises a trajectory introduction unit ( 50 ), which determines a suitable way in which the motor vehicle is movable in a selected trajectory. Driving assistance device according to one of the preceding claims, characterized in that it comprises a time of day unit to store the recording time for each Trajektorienaufzeichnung. Driving assistance device according to one of the preceding claims, characterized that this can be acted upon by a trailer signal indicating whether the vehicle is pulling a trailer during the trajectory recording, and this trailer signal can be stored for each trajectory record. Driving assistance device according to one of claims 2 to 13, characterized in that the driver communication unit ( 32 ) allows the entry of additional information when storing the trajectory, preferably a trajectory name, trajectory explanations. Driving assistance device according to one of claims 2 to 14, characterized in that the driver communication unit ( 32 ) in the selection of trajectory to be traversed additional alternatives are selectable, in particular accessibility of the doors or the trunk.

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